Three-D small range force sensor

A force sensor and small-range technology, applied in the field of force sensors, can solve the problems of force measurement range, resolution and dimension not suitable for contact force detection

Inactive Publication Date: 2007-02-14
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0006] Due to the light weight of animals such as geckos and spiders, the size of the contact force when crawling on different planes is generally between tens to hundreds of millinewtons. are not suitable for testing its contact force

Method used

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Examples

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Embodiment Construction

[0019] like figure 1 , figure 2 As shown, the three-dimensional small-range force sensor of this embodiment is an integral inverted "T"-shaped structure, including a horizontal beam 13 and a vertical beam 14 made of elastic body. Wherein, the left end of the horizontal beam 13 is opened with a left end "H" shaped through hole 15 along the Y direction, and the right end is opened with a right end "H" shaped through hole 16 along the Y direction. The "H"-shaped through-hole 15 at the left end and the "H"-shaped through-hole 16 at the right end are arranged symmetrically, and a strain gauge 5, 7 is pasted on the outer surface of the upper and lower walls of the left end of the "H"-shaped hole 15 at the left end, and the "H"-shaped hole 16 at the right end The outer surfaces of the upper and lower walls of the right end of the upper and lower walls are each pasted with a strain gauge 6, 8, and the strain gauges 5, 7, 6, and 8 constitute the first group of Wheatstone bridges; the...

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Abstract

A force transducer of 3D small range type consists of level beam and vertical beam. It is featured as setting right end H form through hole and left end one symmetrically on level beam, setting foil gauge on said holes to form the first Wheatstone bride, setting the first H form hole and the second H form hole on vertical beam, setting foil gauge on the first H form hole to form the second Wheatstone bridge, setting the second H form hole above the first one along X direction and setting foil gauge on the second H form hole to form the third Wheatstone bridge.

Description

1. Technical field [0001] The invention relates to a force sensor, in particular to a force sensor capable of synchronously testing three-dimensional forces below 1.5N in three-dimensional directions. 2. Background technology [0002] Creatures such as geckos, spiders, and insects have the ability to move freely on smooth or rough walls and ceilings. In-depth research on the movement rules of the above-mentioned animals with full-space movement capabilities can provide a basis for the development of crawling on walls and ceilings. Robots provide theoretical basis. When studying animal movement, the contact force between the animal's paw and the crawling surface is one of the most important pieces of information. It can reveal the law of animal movement in complex environments, and provide bionic mechanics data on motion mechanisms and gaits for the design of robots that can adapt to various working conditions. [0003] In 1994, Zhang Guohua of Tsinghua University and other...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/22
Inventor 吉爱红张正杰戴振东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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